CN111276899A - Special fixture for robot for live replacement of strain insulator single sheet of extra-high voltage line - Google Patents
Special fixture for robot for live replacement of strain insulator single sheet of extra-high voltage line Download PDFInfo
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- CN111276899A CN111276899A CN202010147802.0A CN202010147802A CN111276899A CN 111276899 A CN111276899 A CN 111276899A CN 202010147802 A CN202010147802 A CN 202010147802A CN 111276899 A CN111276899 A CN 111276899A
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- upper cover
- main body
- collision block
- insulator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The patent discloses a special fixture for a robot for replacing strain insulator single sheets of an extra-high voltage line in a charged manner, wherein a front clamp (3) and a rear clamp (1) both comprise a main body (101) and an upper cover (102), and a collision block locking mechanism is arranged between the upper cover (102) and the main body (101); a motor locking mechanism (9) is arranged at the threaded connection position of the upper cover (102) and the main body (101), and a motor (901) of the motor locking mechanism (9) is electrically connected with the robot controller; the adjusting screw rod (5) and the pulling plate frame assembly (2) are respectively and rigidly connected with the two ends of the front clamp (3) and the rear clamp (1) to form an insulator tightening device; one side end parts of the front card (3) and the rear card (1) are fixedly connected with a robot arm (7); the advantages are that: the automatic replacement device is suitable for a robot to automatically replace low-value single insulators at high altitude, and is simple in structure and easy to realize automatic operation.
Description
Technical Field
The patent relates to a change insulator fixture, especially a change special fixture of superhigh pressure line strain insulator monolithic insulator robot with electricity.
Background
The strain insulator is an important component of the extra-high voltage overhead transmission line. The insulator serves to electrically insulate the line from the tower, on the one hand, and to mechanically connect the line to the tower, on the other hand. However, the insulator is easily damaged by various bad weather conditions such as strong wind, thunderstorm, hail, icing and the like in long-term operation, and is degraded into a zero value or low value insulator, so that the normal operation of a power transmission network is further influenced, and a large-area power failure accident can be caused seriously. For this purpose, the zero or low-value insulators must be replaced regularly.
The insulator replacement operation method is complex, the operation tool is large in size and weight, the overhead ground wire support is simple in structure, and the selectable bearing points of the tool are few. When the insulator is replaced, constructors need to work at the high altitude of dozens of meters, supporting objects which can be gripped are lacked around the construction position, and the operation environment is very dangerous. And tension insulators of the ultra-high voltage transmission line mostly use insulators with tonnage of 420kN, 530kN and 550kN at present, and the weight of a single insulator reaches 17kg to 22 kg. The constructor just lifts up the insulator and just has very hard, does not hardly can change bad insulator with the help of other instruments, and the instrument that the construction was used is very heavy. Therefore, the traditional manual operation method is very difficult to work even if power failure is adopted, the labor intensity of the manual operation method is high, and the working environment of constructors is very dangerous.
In order to improve the reliability of line equipment and reduce the power failure time, a special robot which is light, simple to operate, safe and reliable needs to be developed to replace an equipotential electrician, complete the live replacement work of low-zero-value insulators and solve the problem of replacing the strain single-piece insulators in a live manner, and a special fixture for replacing the insulators, which is used as the robot, needs to be specially developed.
Disclosure of Invention
The purpose of this patent is exactly to design a special fixture of superhigh pressure line strain insulator monolithic insulator robot is changed with electricity, guarantees that the robot realizes carrying out automatic the change to the insulator in the high altitude.
The technical scheme of this patent is: change special fixture of superhigh pressure line strain insulator monolithic robot with electricity, characterized by: the adjustable clamp comprises a front clamp, a rear clamp, an adjusting screw rod and a pulling plate frame assembly, wherein the front clamp and the rear clamp respectively comprise a main body and an upper cover, one end of the upper cover is hinged on the main body, and the other end of the upper cover is connected with the main body through a screw rod; a cylindrical cavity is formed between the upper cover and the main body, and an annular clamping groove matched with the insulator steel cap is arranged in the cylindrical cavity; a collision block locking mechanism is arranged between the upper cover and the main body, and the upper cover is automatically closed after a steel cap of the insulator touches a collision block in a semi-cylindrical cavity of the main body; a motor locking mechanism is arranged at the threaded connection part of the upper cover and the main body, a motor of the motor locking mechanism is electrically connected with the robot controller, and after the upper cover is closed, the motor rotates a screw rod which is connected with the upper cover and the main body, so that the insulator steel cap is pressed in a cylindrical cavity formed by the upper cover and the main body; the adjusting screw rod and the pull plate frame component are respectively and rigidly connected at two ends of the front clamp and the rear clamp to form an insulator tightening device, a hydraulic tightener is arranged between the pull plate frame component and the end part of the rear clamp main body, and a hydraulic power source of the hydraulic tightener is connected with a robot hydraulic system; one side end parts of the front card and the rear card are fixedly connected with the robot arm through a pull rod bolt;
the two ends of the adjusting screw rod are respectively and rigidly connected to the right ends of the front clamp main body and the rear clamp main body through bolts, the pull plate frame assembly is a U-shaped frame formed by welding two parallel pull plates through rib plates at the right ends of the pull plates, front clamp main body connecting holes are formed in the pull plates on two sides of the opening end of the U-shaped frame, strip-shaped holes of the rear clamp main body are formed in the pull plates on two sides of the U-shaped frame, which are close to the bottom of the cavity, the left end of the front clamp and the left end of the rear clamp are respectively and rigidly connected to the pull plate frame assembly through bolts, a top block is arranged at the bottom of the cavity of the U-shaped frame, a telescopic oil cylinder is arranged between the top block and the side face of the end of the rear clamp, and an oil inlet;
the collision block locking mechanism is arranged at the hinged position of the main body and the upper cover and comprises a collision block mechanism consisting of a collision block, a collision block pressure spring, a connecting rod and a hook which are sequentially arranged in a collision block seat and a mandril mechanism consisting of a mandril and a mandril pressure spring, the mandril is pressed and held on the upper end surface of the main body through the mandril pressure spring to form the mandril mechanism, and the end part of the upper cover is elastically pressed and held on the upper end of the mandril when the upper cover is opened; the collision block seat is fixed in a collision block seat groove in the main body, the front end of the connecting rod is fixedly connected with the rear end of the collision block, the rear end of the connecting rod is fixedly connected with the root of the hook, the collision block is pressed and held in the collision block seat through a collision block pressure spring, and the front end of the collision block protrudes out of the inner surface of the cylindrical cavity of the main body under the action of the collision block pressure spring; the hook head is arranged at the end part of the upper cover, when the upper cover is opened, the hook head of the upper cover is hooked on the hook, when the insulator steel cap touches the collision block at the front end of the collision block, the collision block pressure spring returns to the collision block seat and drives the hook to move backwards, the hook is unhooked from the hook head, and the upper cover is turned inwards under the action of the spring force on the ejector rod to be closed; the upper cover is fixed relative to the main body when in an open state, and the collision block of the collision block locking mechanism protrudes out of the inner surface of the cylindrical cavity at the moment;
the motor locking mechanism comprises a motor, a spline sleeve, a spiral pressure spring and a screw rod, wherein the motor, the spline sleeve, the spiral pressure spring and the screw rod are fixedly arranged on the main body, an output shaft of the motor is rigidly connected with the bottom end of the spline sleeve, the spiral pressure spring is arranged at the bottom of the spline sleeve, a cylindrical internal spline is arranged on the cylindrical inner wall of the open end of the spline sleeve, an external spline matched with the internal spline of the spline sleeve is arranged at the rear end of the screw rod, the rear end of the screw rod is arranged in the spline sleeve and is pressed and held on the spiral pressure spring through a gland, and the screw rod; a threaded hole is formed in the end part of the upper cover, and a screw rod through hole is formed in the corresponding position on the main body; after the upper cover is closed on the main body, a motor of the motor locking mechanism is started to drive the screw rod to rotate, and the upper cover is locked on the main body;
and a current limiting switch is connected in series in a circuit for connecting the motor with the robot controller.
The advantage of this patent is: the automatic replacement device is suitable for a robot to automatically replace low-value single insulators at high altitude, and is simple in structure and easy to realize automatic operation. The robot can realize the live-line automatic replacement of the low zero value insulator of the ultra-high voltage transmission line, and the robot is in the operation process: firstly, equipment power failure is not needed, and the reliability of the line is improved; secondly, people do not need to work on the insulator string, so that the safety of the work is improved; fatigue does not exist in the third robot operation, and the overhauling efficiency is improved; the method has important significance for improving the working efficiency, ensuring the personnel safety and improving the reliability of the equipment, and can also improve the reliability of the line equipment, reduce the power failure time and gradually improve the development rate of replacing line insulators in a live way.
Drawings
FIG. 1 is a schematic view of a robot-dedicated fixture;
FIG. 2 is a view taken along line A of FIG. 1;
FIG. 3 is a view taken along the line B in FIG. 1;
FIG. 4 is a front view of the pull plate frame assembly;
FIG. 5 is a top view of the pull plate frame assembly;
FIG. 6 is a schematic view of the open state of the clamp;
FIG. 7 is an enlarged schematic view of the motor locking mechanism;
FIG. 8 is a cross-sectional view taken along line M-M of FIG. 7;
fig. 9 is a front view of the chuck body;
FIG. 10 is a cross-sectional view C-C of FIG. 9;
FIG. 11 is a cross-sectional view taken along line D-D of FIG. 9;
FIG. 12 is a cross-sectional view E-E of FIG. 9;
FIG. 13 is a top view of the chuck body;
FIG. 14 is a front view of the upper cover of the fixture;
FIG. 15 is a top view of the upper cover of the fixture;
FIG. 16 is a cross-sectional view F-F of FIG. 14;
FIG. 17 is a cross-sectional view taken at H-H of FIG. 14 (front card slot);
FIG. 18 is a cross-sectional view taken at H-H of FIG. 14 (rear card slot);
in the figure: 1-rear card; 2-a pulling plate frame component; 3-front card; 4, an insulator; 5-adjusting the screw rod; 6-telescopic oil cylinder; 7-a robotic arm; 8-stay bolts; 9-motor locking mechanism;
100-card slot; 101-a body; 102-an upper cover; 103-collision block; 104-a pin shaft; 105-a top rod; 106-mandril compression springs; 107-bolt plugs; 108-hook; 109-connecting rod; 110-collision block compression spring; 111-bump block seat; 112-jackscrew hole; 113-bump seat recess; 201-pulling plate; 202-a clamping block; 203-rib plate; 204-top block; 901-a motor; 902-spline sleeve; 903-a spiral pressure spring; 904-gland; 905-screw.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, the special fixture for replacing tension-resistant single-chip insulator robot in an extra-high voltage line in an electrified way comprises a front card 3, a rear card 1, an adjusting screw rod 5 and a pulling plate frame assembly 2, wherein the fixture for replacing insulators is generally divided into the front card 3 and the rear card 1 according to the position of clamping the insulator on an insulator steel cap when in use, the fixture close to a cross arm end is generally called as the front card 3, the fixture close to a wire end is called as the rear card 1, and referring to fig. 6 and 9 to 16, the front card 3 and the rear card 1 described in the patent each comprise a main body 101 and an upper cover 102, one end of the upper cover 102 is hinged on the main body 101 through a pin 104, the other end of the upper cover 102 is provided with a threaded hole, the upper cover 102 is connected with the main body 101 through a screw rod, semicircular grooves are respectively arranged on the lower end face of the upper cover 102 and the upper end face of the main body 101, arc-shaped clamping grooves are arranged on the, an annular clamping groove matched with a flange on a steel cap of the insulator 4 is arranged in the cylindrical cavity; as shown in fig. 14 to 16, the front card 3 is different from the rear card 1 in that, as shown in fig. 17, the shape of the slot 100 in the cylindrical cavity of the front card 3 is fitted to one side of the annular boss on the steel cap of the insulator 4 close to the porcelain insulator, and the slot is clamped between the annular boss of the steel cap and the porcelain insulator; as shown in fig. 18, the shape of the slot 100 in the cylindrical cavity of the rear clip 1 is fitted to the side of the annular boss on the steel cap of the insulator 4 close to the cross arm side (far away from the porcelain insulator), and the rear clip is clipped to the side of the annular boss on the steel cap far away from the porcelain insulator.
In the patent, a collision block locking mechanism is arranged at the hinged position of an upper cover 102 and a main body 101, and comprises a collision block 103, a collision block compression spring 110, a connecting rod 109 and a hook 108 which are sequentially arranged in a collision block seat 111, and a push rod mechanism consisting of a push rod 105 and a push rod compression spring 106, as shown in fig. 3 and 6, the push rod 105 is pressed and held on the upper end surface of the main body 101 through the push rod compression spring 106 to form the push rod mechanism, the end part of the upper cover 102 can rotate around a pin 104, when the upper cover 102 is opened, the end part is elastically pressed and held on the upper end of the push rod 105, the push rod 105 presses and holds the push rod compression spring 106, the push rod 105 retracts to the lower part of the upper end surface of the main body 101, at the moment, the push rod compression spring 106 is in a compressed state, when the upper cover 102 rotates around the pin 104, and after the upper cover 102 is closed, the end part of the upper cover; in order to simplify the processing technology and in practical production, a step hole which is communicated up and down is arranged on the main body 101, the diameter of the end of the lower step hole is larger than that of the upper end, the ejector rod 105 is arranged in the step hole on the main body 101, the diameter of the lower end of the ejector rod 105 is larger, the upper end of the ejector rod 105 extends out of the upper end of the step hole, the ejector rod pressure spring 106 is arranged at the lower end of the step hole and is pressed at the lower end of the ejector rod, threads are arranged at the lower end of the step hole, and the ejector rod pressure spring 106 is pressed at the lower.
As shown in fig. 9 to 13, the bump seat 111 is fixed in a bump seat groove 113 in the main body 101, two bolt holes 112 are respectively arranged on two sides of the bump seat groove 113, and the bump seat 111 is fixed in the bump seat groove 113 on the main body 101 by bolts on the two sides; the front end of the connecting rod 109 is fixedly connected with the rear end of the striking block 103, the rear end of the connecting rod 109 is fixedly connected with the root part of the hook 108, the striking block 103 is pressed and held in a striking block seat 111 through a striking block compression spring 110, and the front end of the striking block 103 protrudes out of the inner surface of the cylindrical cavity of the main body 101 under the action of the striking block compression spring 110; a hook head is arranged at the end part of the upper cover 102, when the upper cover 102 is opened, the hook head of the upper cover 102 is hooked on the hook 108, when the steel cap of the insulator 4 touches the collision block 103 with the front end of the collision block 103, the collision block 103 compresses the collision block compression spring 110 to retreat to the collision block seat 111 and drives the hook 108 to move backwards, the hook 108 is unhooked from the hook head of the upper cover 102, and the upper cover 102 is turned inwards and closed under the action of the mandril compression spring 106 at the lower end of the mandril 105.
The upper cover 102 is fixed relative to the main body 101 in an open state, and at the moment, a collision block 103 of the collision block locking mechanism protrudes out of the inner surface of the cylindrical cavity; when the cylindrical cavity formed by the upper cover 102 and the main body 101 is clamped on the steel cap of the insulator 4, the steel cap of the insulator 4 touches and extrudes the collision block 103, the collision block locking mechanism is unlocked, and the upper cover 102 is closed under the pushing of the mandril compression spring 106.
When the robot clamps the insulator 4, the upper cover 102 is automatically closed after the steel cap of the insulator 4 contacts the collision block 103 in the cylindrical cavity of the main body 101; a motor locking mechanism 9 is arranged at the threaded connection between the upper cover 102 and the main body 101, as shown in fig. 6 to 8, the motor locking mechanism 9 is fixedly arranged on the main body 101, the motor locking mechanism 9 includes a motor 901, a spline sleeve 902, a helical compression spring 903 and a screw 905 which are fixedly arranged on the main body 101, an output shaft of the motor 901 is rigidly connected with the bottom end of the spline sleeve 902, the helical compression spring 903 is arranged at the bottom of the spline sleeve 902, a cylindrical internal spline is arranged on the cylindrical inner wall of the open end of the spline sleeve 902, an external spline which is matched with the internal spline of the spline sleeve 902 is arranged at the rear end of the screw 905, the rear end of the screw 905 is arranged in the spline sleeve 902 and is pressed on the helical compression spring 903 through a gland 904, and the screw 905 can rotate with the motor 901 and can stretch out and; a threaded hole is formed in the end portion of the upper cover 102, a screw rod through hole is formed in a corresponding position on the main body 101, after the upper cover 102 is closed on the main body 101, a motor of the motor locking mechanism 9 is started and rotates in the forward direction to drive the screw rod to rotate, the elasticity of the spiral pressure spring 903 is released, the screw rod 905 moves upwards in the axial direction, the upper end thread of the screw rod 905 is connected with the threaded hole in the upper cover 102, and the upper cover 102 is connected with the threaded hole in the main body 101 in a threaded mode and is pressed on the; when the motor 901 rotates reversely again, the helical compression spring 903 contracts, the screw 905 moves upward in the axial direction, the upper end of the screw 905 is separated from the upper cover 102, and the threaded end of the upper cover 102 is separated from the main body 101.
The motor 901 is electrically connected with the robot controller, when the upper cover 102 is closed, the motor 901 rotates the screw rod connecting the upper cover 102 and the main body 101, so that the steel cap of the insulator 4 is pressed in a cylindrical cavity formed by the upper cover 102 and the main body 101; a current limiting switch is connected in series in a circuit connecting the motor 901 and the robot controller, a current value when the upper cover 102 is pressed on the main body 101 (i.e. when the screw 905 is at the maximum torque) is set as a threshold value of the current limiting switch, and when the current of the motor 901 reaches the set threshold current, the motor 901 stops operating, thereby realizing automatic locking of the upper cover 102.
The adjusting screw 5 and the pulling plate frame assembly 2 are respectively and rigidly connected to two ends of the main body 101 of the front card 3 and the main body 101 of the rear card 1 to form an insulator tightening device, two ends of the adjusting screw 5 are respectively and rigidly connected to the right ends of the main body 101 of the front card 3 and the main body 101 of the rear card 1 through bolts, and the right end parts of the main body 101 of the front card 3 and the main body 101 of the rear card 1 are fixedly connected with the robot arm 7 through a pulling rod bolt 8.
As shown in fig. 4 and 5, the pulling plate frame assembly 2 is a U-shaped frame formed by welding two parallel pulling plates 201 through a rib plate 203 at the right end thereof; connecting holes of the main body 101 of the front card 3 are formed in the pull plates 201 on two sides of the opening end of the U-shaped frame, clamping blocks 202 are fixedly arranged in the connecting holes of the pull plates 201 on two sides respectively for convenient connection, holes communicated with the connecting holes in the pull plates 201 are formed in the clamping blocks 202, and the left end of the main body 101 of the front card 3 is fixedly connected with the opening end of the pull plate frame assembly 2; connecting holes with the main body 101 of the rear card 1 are formed in the pull plates 201 on the two sides of the U-shaped frame, which are close to the bottom of the cavity, and the left end of the main body 101 of the rear card 1 is rigidly connected with the pull plate frame assembly 2 through bolts; a hydraulic tightener is arranged between the end part of the main body 101 of the drawplate frame assembly 2 and the rear clamp 1, an ejector block 204 is arranged at the bottom of a cavity of a U-shaped frame of the drawplate frame assembly 2, a telescopic oil cylinder 6 is arranged between the ejector block 204 and the left end side surface of the main body 101 of the rear clamp 1, the telescopic oil cylinder 6 is used as the hydraulic tightener, and an oil inlet pipe and an oil outlet pipe of the telescopic oil cylinder 6 are communicated with an oil circuit of a robot hydraulic control system.
When the insulator replacing device is used, the upper cover 102 is opened firstly, the robot arm 7 drags the insulator replacing device to the position below an insulator string to be replaced, the semi-cylindrical ring on the main body 101 is wound on the insulator steel caps adjacent to two sides of the low-value insulator to be replaced, the collision block locking mechanism acts to close the upper cover 102, and the front card 3 and the rear card 1 are clamped on the steel caps of the insulators 4 adjacent to two sides of the low-value insulator to be replaced; after the upper cover 102 is closed, the motor locking mechanism 9 locks the upper cover 2; the robot system starts the telescopic oil cylinder 6, the piston of the telescopic oil cylinder 6 extends and tightly props between the right end of the main body 101 of the rear card 1 and the top block 204 at the right end of the pull plate 201, a center hole is formed in the middle of the top block 204, the piston of the telescopic oil cylinder 6 extends and then props against the center hole of the top block 204, the insulator 4 clamped by the pull plate frame assembly 2 is tightened, the insulator 4 needing to be replaced is loosened, the zero-value or low-value single insulator 4 is taken out, and then a new insulator 4 is installed.
Claims (5)
1. Change special fixture of superhigh pressure line strain insulator monolithic robot with electricity, characterized by: the insulator pulling device comprises a front clamp (3), a rear clamp (1), an adjusting screw rod (5) and a pulling plate frame assembly (2), wherein the front clamp (3) and the rear clamp (1) both comprise a main body (101) and an upper cover (102), one end of the upper cover (102) is hinged to the main body (101), the other end of the upper cover (102) is connected with the main body (101) through a screw rod, a cylindrical cavity is formed between the upper cover (102) and the main body (101), and an annular clamping groove (100) matched with a steel cap of an insulator (4) is arranged in the cylindrical cavity; a collision block locking mechanism is arranged between the upper cover (102) and the main body (101), and the upper cover (102) is automatically closed after a steel cap of the insulator (4) touches a collision block (103) in a cylindrical cavity of the main body (101); a motor locking mechanism (9) is arranged at the threaded connection part of the upper cover (102) and the main body (101), a motor (901) of the motor locking mechanism (9) is electrically connected with a robot controller, and after the upper cover (102) is closed, the motor (901) rotates a screw rod which is connected with the upper cover (102) and the main body (101) to press and hold a steel cap of the insulator (4) in a cylindrical cavity formed by the upper cover (102) and the main body (101); the adjusting screw rod (5) and the pull plate frame assembly (2) are respectively and rigidly connected with the two ends of the front clamp (3) and the rear clamp (1) to form an insulator tightening device, a hydraulic tightener is arranged between the pull plate frame assembly (2) and the end part of the main body (101) of the rear clamp (1), and a hydraulic power source of the hydraulic tightener is connected with a robot hydraulic system; one side end parts of the front card (3) and the rear card (1) are fixedly connected with a robot arm (7) through a draw bar bolt (8).
2. The special fixture for the robot for live replacement of the tension single sheet insulator of the extra-high voltage line according to claim 1, wherein: two ends of the adjusting screw rod (5) are respectively and rigidly connected with the right ends of the front card (3) and the rear card (1) through bolts, the pulling plate frame component (2) is a U-shaped frame formed by welding two parallel pulling plates (201) through a rib plate (203) at the right end of the pulling plate, connecting holes with the front card (3) are arranged on the pull plates (201) at the two sides of the opening end of the U-shaped frame, strip-shaped holes of the rear clamp (3) are arranged on the pull plates (201) at the two sides of the U-shaped frame near the bottom of the cavity, the left end of the front clamp (3) and the left end of the rear clamp (1) are respectively and rigidly connected on the pull plate frame component (2) through bolts, the bottom of a cavity of the U-shaped frame is provided with a top block (204), a telescopic oil cylinder (6) is arranged between the top block (204) and the side face of the end part of the rear clamp (1), and an oil inlet pipe and an oil outlet pipe of the telescopic oil cylinder (6) are communicated with an oil way of a robot hydraulic control system.
3. The special fixture for the robot for live replacement of the tension single sheet insulator of the extra-high voltage line according to claim 1, wherein: the collision block locking mechanism is arranged at the hinged position of the main body (101) and the upper cover (102) and comprises a collision block mechanism consisting of a collision block (103), a collision block pressure spring (110), a connecting rod (109) and a hook (108) which are sequentially arranged in a collision block seat (111), and a push rod mechanism consisting of a push rod (105) and a push rod pressure spring (106), wherein the push rod (105) is pressed on the upper end surface of the main body (101) through the push rod pressure spring (106) to form the push rod mechanism, and the end part of the upper cover (102) is elastically pressed on the upper end of the push rod (105) when the upper cover (102) is opened; the collision block seat (111) is fixed in a collision block seat groove (113) in the main body (101), the front end of the connecting rod (109) is fixedly connected with the rear end of the collision block (103), the rear end of the connecting rod (109) is fixedly connected with the root of the hook (108), the collision block (103) is pressed in the collision block seat (111) through a collision block compression spring (110), and the front end of the collision block (103) protrudes out of the inner surface of a cylindrical cavity of the main body (101) under the action of the collision block compression spring (110); a hook head is arranged at the end part of the upper cover (102), when the upper cover (102) is opened, the hook head of the upper cover (102) is hooked on the hook (108), when a steel cap of the insulator (4) touches the collision block (103) at the front end of the collision block (103), the collision block pressure spring (110) retracts to the collision block seat (111) and drives the hook (108) to move backwards, the hook (108) is unhooked from the hook head, and the upper cover (102) is turned inwards to be closed under the action of spring force on the ejector rod (105); the upper cover (102) is fixed relative to the main body (101) when in an open state, and a collision block (103) of the collision block locking mechanism protrudes out of the inner surface of the cylindrical cavity.
4. The special fixture for the robot for live replacement of the tension single sheet insulator of the extra-high voltage line according to claim 1, wherein: the motor locking mechanism (9) comprises a motor (901) fixedly arranged on the main body (101), a spline sleeve (902), a spiral pressure spring (903) and a screw rod (905), an output shaft of the motor (901) is rigidly connected with the bottom end of the spline sleeve (902), the bottom of the spline sleeve (902) is provided with the spiral pressure spring (903), the cylindrical inner wall of the opening end of the spline sleeve (902) is provided with a cylindrical inner spline, the rear end of the screw rod (905) is provided with an outer spline matched with the inner spline of the spline sleeve (902), the rear end of the screw rod (905) is arranged in the spline sleeve (902) and is pressed on the spiral pressure spring (903) through a gland (904), and the screw rod (905) can rotate along with the motor (901) and can stretch out and draw back in the axial direction; a threaded hole is formed in the end part of the upper cover (102), and a screw rod through hole is formed in the corresponding position on the main body (101); after the upper cover (102) is closed on the main body (101), a motor (901) of the motor locking mechanism (9) is started to drive the screw rod (905) to rotate, and the upper cover (102) is locked on the main body (101).
5. The special fixture for the robot for live replacement of the tension single sheet insulator of the extra-high voltage line according to claim 1, wherein: a current limiting switch is connected in series in a circuit for connecting the motor (901) with the robot controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147802.0A CN111276899B (en) | 2020-03-05 | 2020-03-05 | Fixture for robot for live replacement of ultrahigh voltage and ultrahigh voltage strain single insulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147802.0A CN111276899B (en) | 2020-03-05 | 2020-03-05 | Fixture for robot for live replacement of ultrahigh voltage and ultrahigh voltage strain single insulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111276899A true CN111276899A (en) | 2020-06-12 |
| CN111276899B CN111276899B (en) | 2021-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010147802.0A Active CN111276899B (en) | 2020-03-05 | 2020-03-05 | Fixture for robot for live replacement of ultrahigh voltage and ultrahigh voltage strain single insulator |
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| CN (1) | CN111276899B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372619A (en) * | 2020-11-30 | 2021-02-19 | 国网湖北省电力有限公司检修公司 | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method |
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| CN112372619A (en) * | 2020-11-30 | 2021-02-19 | 国网湖北省电力有限公司检修公司 | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method |
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